IAI Rcon User manual

System
Instruction Manual
Chapter 1 RCON Overview
Chapter 2 System Configuration and Specifications
Chapter 3 Gateway Unit
Chapter 4 24V Driver Unit, EC Conne ction Unit
Chapter 5 200V Driver Unit, 200V Power Supply Unit
Chapter 6 SCON Extension Unit
Chapter 7 Simple Absolute Unit
Specifications
Section
Chapter 1 Maintenance and Inspection
Chapter 2 Troubleshooting
Maintenance
Section
Chapter 1 Conforming to Safety Category
Chapter 2 Connectable Actuators
Appendix
Chapter 1 Overview
Chapter 2 Mounting and Wiring
Chapter 3 Absolute Reset
Chapter 4 Network Configuration
Chapter 5 Basic Operation Confirmation and Adjustment
Chapter 6 Parameter
Startup
Section
Third Edition ME0384-4A

ME0384-4A
Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this
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Before using the product, be sure to read this manual and fully understand the contents
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When using the product, refer to the necessary sections of the applicable instruction manual
by printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is
handling the product can refer to it quickly when necessary.
[Important]
●This instruction manual is an original document dedicated for this product.
●This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
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the purpose of product improvement.
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ME0384-4A
RCON System Instruction Manual Configuration
Product name Instruction manual name Control
number
RCON Gateway Unit First Step Guide ME0382
RCON 24V Driver Unit First Step Guide ME0383
RCON 200V
Power Supply / Driver Unit First Step Guide ME0397
REC System First Step Guide ME0395
RCON System Instruction Manual (this document) ME0384
REC System REC-GW/RCON-EC
Instruction Manual ME0394
SCON-CB Controller SCON-CB/CGB/LC/LCG
Instruction Manual ME0340
PC Software RCM-101-MW/RCM-101-USB
Instruction Manual ME0155
Touch Panel Teaching Pendant TB-02/02D Instruction Manual ME0355
Touch Panel Teaching Pendant TB-03 Instruction Manual ME0376
24V Power Supply Unit PSA-24 Instruction Manual ME0379
Calculator Calculator Instruction Manual ME0381
Network Startup Guide Quick Start Guide
Download from IAI
homepage

ME0384-4A
Contents
Safety Guide ·················································································· Intro-1
Precautions for Handling ··································································· Intro-8
Precautions for PC connection to RCON gateway unit
grounded at positive terminal of 24 VDC power supply ···························· Intro-13
International Standard Compliance······················································ Intro-15
Warranty························································································ Intro-16
Actuator Coordinate System ······························································ Intro-18
[Specifications Section]
Chapter 1 RCON Overview
1.1 Overview················································································ A1-1
1.2 Features ················································································ A1-2
Field network control operation mode ································································· A1-4
List of functions by operation mode ···································································· A1-5
Operation of ELECYLINDER············································································· A1-7
1.3 General Specifications ······························································ A1-8
Chapter 2 System Configuration and Specifications
2.1 System Configuration································································ A2-1
2.2 Configuration Unit List······························································· A2-3
2.3 Specifications·········································································· A2-7
General specifications ····················································································· A2-7
Power supply capacity ····················································································· A2-10
Power ON sequence ······················································································· A2-16
Inrush current ································································································ A2-18
Operating temperature range ············································································ A2-20
Installation conditions ······················································································ A2-21
Unit connection restrictions ··············································································· A2-25
2.4 External Dimensions································································· A2-27
Controller (24V Driver Unit 8-axis without fan) ······················································ A2-27
Controller (24V Driver Unit 8-axis with fan)··························································· A2-28
Controller (24V Driver Unit 16-axis without fan)····················································· A2-29
Controller (24V Driver Unit 16-axis with fan) ························································· A2-30
Controller (200V Driver Unit 1-axis with fan) ························································· A2-31
2.5 Connection Diagrams ······························································· A2-32
Power Supply and Stop Circuit / Drive Cutoff Circuit ·············································· A2-32
Driver Stop Circuit··························································································· A2-37
Motor/encoder circuit ······················································································· A2-43
AUTO/MANU mode switching circuit wiring ·························································· A2-49
Field network wiring ························································································ A2-50
Chapter 3 Gateway Unit
3.1 Overview················································································ A3-1
3.2 How to Read the Model Number ················································· A3-3
How to read the model nameplate······································································ A3-4
3.3 Gateway Unit and Accessories···················································· A3-5

ME0384-4A
3.4 Part Names/Functions and External Dimensions····························· A3-6
Part names···································································································· A3-6
LED display ··································································································· A3-8
Ethernet connector·························································································· A3-9
AUTO/MANU switch························································································ A3-9
SIO connector································································································ A3-10
USB connector······························································································· A3-11
System I/O connector ······················································································ A3-12
Motor power connector ···················································································· A3-13
Control power connector ·················································································· A3-14
Field network connector ··················································································· A3-15
Connectors···································································································· A3-15
Terminal unit ·································································································· A3-16
External dimensions ························································································ A3-17
3.5 Field Network General Specifications ··········································· A3-19
CC-Link ········································································································ A3-19
CC-Link IE Field ····························································································· A3-20
DeviceNet ····································································································· A3-21
EtherCAT ······································································································ A3-22
EtherNet/IP ··································································································· A3-23
PROFIBUS-DP ······························································································ A3-24
PROFINET IO································································································ A3-25
3.6 Operation Function List ····························································· A3-26
Field network control operation mode ································································· A3-26
List of functions by operation mode ···································································· A3-27
Operation of ELECYLINDER············································································· A3-29
3.7 Address Configuration······························································· A3-30
Overall address configuration example································································ A3-32
Gateway control/status signals ·········································································· A3-43
Power supply unit (PSA-24) status signal ···························································· A3-45
Position table ································································································· A3-48
Direct numerical control mode assignment··························································· A3-64
Simple direct mode assignment ········································································· A3-70
Positioner 1 mode assignment ·········································································· A3-74
Positioner 2 mode assignment ·········································································· A3-77
Positioner 3 mode assignment ·········································································· A3-78
Positioner 5 mode assignment ·········································································· A3-81
ELECYLINDER Position Table··········································································· A3-84
Assignment of EC Connection Unit····································································· A3-87
3.8 I/O Signals ············································································· A3-90
Timing of I/O signals························································································ A3-90
Function of I/O signals ····················································································· A3-91
Features of Input and Output Signals for EC Connection Unit ·································· A3-114
Caution when Connecting EC Connection Unit ····················································· A3-117
Timing of basic operation ················································································· A3-118
Other basic operations····················································································· A3-127
Basic Operations of ELECYLINDER ··································································· A3-143
Precautions for Rotary Type·············································································· A3-148
Precautions for Gripper Type············································································· A3-151
3.9 Gateway Parameter Configuration Tool········································· A3-153
Tool startup ··································································································· A3-153
Menu descriptions··························································································· A3-154
Special parameter setting function descriptions ···················································· A3-156
Explanations of Monitoring Menu Features ·························································· A3-162
Operation mode setting···················································································· A3-164
Operation mode individual setting ······································································ A3-166
Axis number assignment change ······································································· A3-167
Editing driver unit configuration·········································································· A3-168

ME0384-4A
3.10 Actuator Information Management Function··································· A3-180
Overview ······································································································ A3-180
Actuators with information management function supported ···································· A3-181
Actuator information management function ·························································· A3-182
Parameters for actuator information management function setting ···························· A3-185
Chapter 4 24V Driver Unit, EC Conne ction Unit
4.1 Overview················································································ A4-1
4.2 How to Read the Model Number ················································· A4-3
How to read the model nameplate······································································ A4-4
4.3 Components ··········································································· A4-5
4.4 Part Names/Functions and External Dimensions····························· A4-7
[24V Driver unit]
Part names·································································································· A4-7
LED display ································································································· A4-9
Jog switch ··································································································· A4-10
Brake release switch ····················································································· A4-11
Motor/encoder connector················································································ A4-11
Drive source shutoff connector ········································································ A4-15
Fan connector······························································································ A4-16
Connectors·································································································· A4-16
Fan unit ······································································································ A4-17
External dimensions (24V Driever unit, Fun unit) ················································· A4-19
[EC Connection Unit]
Part names·································································································· A4-21
LED display ································································································· A4-22
Brake release switch ····················································································· A4-24
onnectors for EC Connection ·········································································· A4-25
Drive source shutoff connector ········································································ A4-26
Connectors·································································································· A4-27
External dimensions ······················································································ A4-28
Chapter 5 200V Driver Unit, 200V Power Supply Unit
5.1 Overview················································································ A5-1
5.2 How to Read the Model Number ················································· A5-3
How to read the model nameplate···································································· A5-4
5.3 Components ··········································································· A5-6
5.4 Part Names/Functions and External Dimensions····························· A5-8
[200V Driver Unit]
Part names·································································································· A5-8
LED display ································································································· A5-9
Jog switch ··································································································· A5-10
Brake release switch ····················································································· A5-11
Motor connector ··························································································· A5-11
Encoder connector························································································ A5-12
Driver Stop Connector ··················································································· A5-13
Fan connector······························································································ A5-13
Connectors·································································································· A5-13
Fan Unit for 200V Driver Unit ·········································································· A5-14
External dimensions (200V Driver Unit, Fan Unit for 200V Driver Unit)····················· A5-16
[200V Power Supply Unit]
Part names·································································································· A5-18
External Regenerative Resistor Connector························································· A5-21
200V AC Input Connector ··············································································· A5-22

ME0384-4A
Fan connector······························································································ A5-22
Connectors·································································································· A5-23
Fan unit ······································································································ A5-23
External dimensions (200V Power Supply Unit, Terminal Unit) ······························· A5-25
Chapter 6 SCON Exte nsion Unit
6.1 Overview················································································ A6-1
6.2 How to Read the Model Number ················································· A6-3
How to read the model nameplate······································································ A6-3
6.3 SCON Extension Unit and Components········································ A6-4
6.4 Part Names/Functions and External Dimensions····························· A6-5
Part names···································································································· A6-5
SCON cable connector ···················································································· A6-7
Connectors···································································································· A6-8
External dimensions ························································································ A6-9
Chapter 7 Simple Abs olute Unit
7.1 Overview················································································ A7-1
7.2 How to Read the Model Number ················································· A7-3
How to read the model nameplate······································································ A7-4
7.3 Simple Absolute Unit and Components ········································· A7-5
7.4 General Specifications ······························································ A7-6
7.5 Part Names/Functions and External Dimensions····························· A7-10
Part names···································································································· A7-10
LED display ··································································································· A7-11
Actuator cable connector/driver unit cable connector ············································· A7-11
External dimensions ························································································ A7-12
7.6 Precautions ············································································ A7-13
[Startup Section]
Chapter 1 Overview
1.1 Checking the Product································································ B1-1
1.2 Tools to Use············································································ B1-5
1.3 Startup Procedure ···································································· B1-7
Chapter 2 Mounting and Wiring
2.1 Installation·············································································· B2-1
Requests/Precautions······················································································ B2-1
Unit connection ······························································································ B2-5
DIN rail mounting···························································································· B2-6
2.2 Wiring···················································································· B2-7
Controller wiring ····························································································· B2-7
Actuator wiring ······························································································· B2-12
CC-Link wiring ······························································································· B2-15
Wiring for External Regenerative Resistor Unit ····················································· B2-17

ME0384-4A
Chapter 3 Absolute Reset
3.1 Absolute Reset ········································································ B3-1
Overview ······································································································ B3-1
3.2 Simple Absolute Unit Wiring ······················································· B3-3
3.3 Parameter Setting ···································································· B3-6
3.4 Absolute Reset Procedure ························································· B3-7
3.5 Absolute Battery ······································································ B3-12
3.6 Precautions ············································································ B3-14
Chapter 4 Network Configu ration
4.1 How to Use the Gateway Parameter Configuration Tool ······················ B4-1
Installing ······································································································· B4-1
RCON setting: CC-Link (for PiC of PLC wiring / programming)································· B4-17
How to Connect Ethernet ················································································· B4-26
4.2 Master Side Setting ·································································· B4-29
PLC setting: CC-Link (for PiC of PLC wiring / programming)···································· B4-29
4.3 Installing PC software ······························································· B4-42
Installing ······································································································· B4-42
4.4 Address Configuration······························································· B4-46
Overall address configuration example································································ B4-48
Gateway control/status signals ·········································································· B4-59
Power supply unit (PSA-24) status signal ···························································· B4-61
Chapter 5 Basic Operation Confirmation and Adjust ment
5.1 Operation Confirmation with PC Software ····································· B5-1
Home return ·································································································· B5-10
Jog travel ······································································································ B5-12
Position travel ································································································ B5-13
Operation Check of ELECYLINDER ··································································· B5-16
Chapter 6 Parameter
6.1 Parameter ·············································································· B6-1
Parameter list ································································································ B6-1
Parameter details ··························································································· B6-6
Parameter list for ELECYLINDER ······································································ B6-53
Parameter Details of ELECYLINDER·································································· B6-54
Servo gain adjustment ····················································································· B6-61
6.2 Various Functions ···································································· B6-65
Vibration damping control function ····································································· B6-65
Collision detection function ··············································································· B6-72
Power-saving function ····················································································· B6-75

ME0384-4A
[Maintenance Section]
Chapter 1 Maintenance and Inspection
1.1 Periodic Inspection ··································································· C1-1
Periodic inspection items·················································································· C1-2
1.2 Requests When Replacing Units ················································· C1-4
1.3 Consumable Parts···································································· C1-5
1.4 Preventive Maintenance Function················································ C1-6
Driver unit ····································································································· C1-6
Gateway unit ································································································· C1-6
Maintenance Information ·················································································· C1-7
PSA-24 Status Data Monitor ············································································· C1-11
1.5 Predictive Maintenance Function················································· C1-14
Fan ··········································································································C1-14
Overload warning ··························································································C1-15
Chapter 2 Troubleshooting
2.1 Troubleshooting······································································· C2-1
2.2 Failure Diagnostics··································································· C2-2
Operation failure····························································································· C2-2
Low positioning and velocity accuracy (incorrect operation)····································· C2-3
Generation of abnormal noise or vibration···························································· C2-4
Communication failure ····················································································· C2-4
2.3 Gateway Unit Alarm Causes and Countermeasures························C2-5
Causes and countermeasures of individual alarms ················································ C2-5
2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures C2-9
Alarm levels··································································································C2-9
Simple alarm codes························································································C2-10
Causes and countermeasures of individual alarms ···············································C2-12
2.5 Causes and countermeasures for ELECYLINDER alarms················· C2-29
ELECYLINDER Alarm Group ···········································································C2-29
Troubleshooting for ELECYLINDER alarm groups ················································C2-30
[Appendix]
Chapter 1 Conforming to Safety Category
1.1 Conforming to safety category ···················································· D1-1
System configuration ······················································································D1-1
Wiring and Setting of Safety Circuit ···································································D1-2
Example of Safety Circuit ················································································D1-4
TP Adapter and Related Parts ··········································································D1-14
Chapter 2 Connectable Actuators
2.1 List of Actuator Specifications ····················································· D2-1
Specifications for Pulse Motor Type Actuator ·······················································D2-1
Specifications for 24V AC Servo Motor Type Actuator············································D2-40
Specifications for Brushless DC Electric Motor Actuator·········································D2-45
Specifications for 200V AC Servo Motor Type Actuator ··········································D2-46

ME0384-4A
2.2 Correlation Diagrams of Speed and Payload·································· D2-97
RCP6 slider type (High output effective) ·····························································D2-97
RCP6 slider type (High output effective / Motor-reversing type) ·······························D2-98
RCP6 wide slider type (High output effective) ······················································D2-99
RCP6 wide slider type (High output effective / Motor-reversing type) ························D2-100
RCP6 rod type (High output effective) ································································D2-101
RCP6 rod type (High output effective / Motor-reversing type)··································D2-102
RCP6 radial cylinder type (High output effective)··················································D2-103
RCP6 radial cylinder type (High output effective / Motor-reversing type)····················D2-104
RCP6 wide radial cylinder type (High output effective)···········································D2-105
RCP6 wide radial cylinder type (High output effective / Motor-reversing type)·············D2-106
RCP6W dust and drip proof rod type (High output effective) ···································D2-107
RCP6W dust and drip proof rod type (High output effective / Motor-reversing type) ·····D2-109
RCP6W dust and drip proof radial cylinder type (High output effective) ·····················D2-111
RCP6W dust and drip proof radial cylinder type (High output effective / Motor-reversing type) ···D2-113
RCP6W dust and drip proof wide radial cylinder type (High output effective) ··············D2-115
RCP6W dust and drip proof wide radial cylinder type (High output effective / Motor-reversing type) ···D2-117
RCP6 table type (High output effective)······························································D2-119
RCP6 table type (High output effective / Motor-reversing type)································D2-120
RCP6 table type (High output effective)······························································D2-121
RCP6 table type (High output effective / Motor-reversing type)································D2-122
RCP5 slider type (High output effective) ·····························································D2-123
RCP5 slider type (High output effective / Motor-reversing type) ·······························D2-124
RCP5 belt type (High output effective) ·······························································D2-125
RCP5 rod type (High output effective) ································································D2-125
RCP5 rod type ······························································································D2-126
RCP5 rod type (High output effective / Motor-reversing type)··································D2-127
RCP5 rod type (Motor-reversing type)································································D2-128
RCP5W dust and drip proof rod type (High output effective) ···································D2-128
RCP5W dust and drip proof rod type ·································································D2-129
RCP4 slider type (High output effective) ·····························································D2-131
RCP4 slider type (High output effective / Motor-reversing type) ·······························D2-132
RCP4W dust and drip proof slider type·······························································D2-133
RCP4 rod type (High output effective) ································································D2-134
RCP4 rod type (High output effective / Motor-reversing type)··································D2-135
RCP4W dust and drip proof rod type (High output effective) ···································D2-136
RCP3 slider type ···························································································D2-137
RCP3 slider type (Motor-reversing type) ·····························································D2-139
RCP3 rod type ······························································································D2-140
RCP3 table type ····························································································D2-141
RCP2 slider type ···························································································D2-142
RCP2 slider type (Motor-reversing type) ·····························································D2-144
RCP2 rod type ······························································································D2-146
RCP2 rod short type (Standard / Equipped with Guide) ·········································D2-148
RCP2W dust and drip proof type·······································································D2-150